diff options
author | Campbell Barton <ideasman42@gmail.com> | 2011-11-02 13:13:04 +0400 |
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committer | Campbell Barton <ideasman42@gmail.com> | 2011-11-02 13:13:04 +0400 |
commit | e29aa363f21b945404b9e7e3702d67432236c067 (patch) | |
tree | 5ae1ba9515175c6126240ba00729b1746608a369 /source | |
parent | 43e297c0c0cd18b0a9666fa55a4dc9411911ef24 (diff) |
new math function: Quaternion.to_axis_angle().
add in safety checks for inf/nan values which could happen in some cases.
Diffstat (limited to 'source')
-rw-r--r-- | source/blender/python/mathutils/mathutils_Quaternion.c | 94 |
1 files changed, 76 insertions, 18 deletions
diff --git a/source/blender/python/mathutils/mathutils_Quaternion.c b/source/blender/python/mathutils/mathutils_Quaternion.c index 7eb39509e6b..f892c25f67e 100644 --- a/source/blender/python/mathutils/mathutils_Quaternion.c +++ b/source/blender/python/mathutils/mathutils_Quaternion.c @@ -39,6 +39,7 @@ #define QUAT_SIZE 4 static PyObject *quat__apply_to_copy(PyNoArgsFunction quat_func, QuaternionObject *self); +static void quat__axis_angle_sanitize(float axis[3], float *angle); static PyObject *Quaternion_copy(QuaternionObject *self); //-----------------------------METHODS------------------------------ @@ -141,6 +142,39 @@ static PyObject *Quaternion_to_matrix(QuaternionObject *self) return newMatrixObject(mat, 3, 3, Py_NEW, NULL); } +//----------------------------Quaternion.toMatrix()------------------ +PyDoc_STRVAR(Quaternion_to_axis_angle_doc, +".. method:: to_axis_angle()\n" +"\n" +" Return the axis, angle representation of the quaternion.\n" +"\n" +" :return: axis, angle.\n" +" :rtype: (:class:`Vector`, float) pair\n" +); +static PyObject *Quaternion_to_axis_angle(QuaternionObject *self) +{ + PyObject *ret; + + float tquat[4]; + + float axis[3]; + float angle; + + if (BaseMath_ReadCallback(self) == -1) + return NULL; + + normalize_qt_qt(tquat, self->quat); + quat_to_axis_angle(axis, &angle, tquat); + + quat__axis_angle_sanitize(axis, &angle); + + ret= PyTuple_New(2); + PyTuple_SET_ITEM(ret, 0, newVectorObject(axis, 3, Py_NEW, NULL)); + PyTuple_SET_ITEM(ret, 1, PyFloat_FromDouble(angle)); + return ret; +} + + //----------------------------Quaternion.cross(other)------------------ PyDoc_STRVAR(Quaternion_cross_doc, ".. method:: cross(other)\n" @@ -881,12 +915,18 @@ static PyObject *Quaternion_getMagnitude(QuaternionObject *self, void *UNUSED(cl static PyObject *Quaternion_getAngle(QuaternionObject *self, void *UNUSED(closure)) { float tquat[4]; + float angle; if (BaseMath_ReadCallback(self) == -1) return NULL; normalize_qt_qt(tquat, self->quat); - return PyFloat_FromDouble(2.0f * (saacos(tquat[0]))); + + angle= 2.0f * saacos(tquat[0]); + + quat__axis_angle_sanitize(NULL, &angle); + + return PyFloat_FromDouble(angle); } static int Quaternion_setAngle(QuaternionObject *self, PyObject *value, void *UNUSED(closure)) @@ -895,7 +935,7 @@ static int Quaternion_setAngle(QuaternionObject *self, PyObject *value, void *UN float len; float axis[3], angle_dummy; - double angle; + float angle; if (BaseMath_ReadCallback(self) == -1) return -1; @@ -913,13 +953,7 @@ static int Quaternion_setAngle(QuaternionObject *self, PyObject *value, void *UN angle= angle_wrap_rad(angle); - /* If the axis of rotation is 0,0,0 set it to 1,0,0 - for zero-degree rotations */ - if ( EXPP_FloatsAreEqual(axis[0], 0.0f, 10) && - EXPP_FloatsAreEqual(axis[1], 0.0f, 10) && - EXPP_FloatsAreEqual(axis[2], 0.0f, 10) - ) { - axis[0] = 1.0f; - } + quat__axis_angle_sanitize(axis, &angle); axis_angle_to_quat(self->quat, axis, angle); mul_qt_fl(self->quat, len); @@ -935,21 +969,15 @@ static PyObject *Quaternion_getAxisVec(QuaternionObject *self, void *UNUSED(clos float tquat[4]; float axis[3]; - float angle; + float angle_dummy; if (BaseMath_ReadCallback(self) == -1) return NULL; normalize_qt_qt(tquat, self->quat); - quat_to_axis_angle(axis, &angle, tquat); + quat_to_axis_angle(axis, &angle_dummy, tquat); - /* If the axis of rotation is 0,0,0 set it to 1,0,0 - for zero-degree rotations */ - if ( EXPP_FloatsAreEqual(axis[0], 0.0f, 10) && - EXPP_FloatsAreEqual(axis[1], 0.0f, 10) && - EXPP_FloatsAreEqual(axis[2], 0.0f, 10) - ) { - axis[0] = 1.0f; - } + quat__axis_angle_sanitize(axis, NULL); return (PyObject *) newVectorObject(axis, 3, Py_NEW, NULL); } @@ -971,6 +999,8 @@ static int Quaternion_setAxisVec(QuaternionObject *self, PyObject *value, void * if (mathutils_array_parse(axis, 3, 3, value, "quat.axis = other") == -1) return -1; + quat__axis_angle_sanitize(axis, &angle); + axis_angle_to_quat(self->quat, axis, angle); mul_qt_fl(self->quat, len); @@ -1029,6 +1059,33 @@ static PyObject *quat__apply_to_copy(PyNoArgsFunction quat_func, QuaternionObjec } } +/* axis vector suffers from precission errors, use this function to ensure */ +static void quat__axis_angle_sanitize(float axis[3], float *angle) +{ + if (axis) { + if ( !finite(axis[0]) || + !finite(axis[1]) || + !finite(axis[2])) + { + axis[0]= 1.0f; + axis[1]= 0.0f; + axis[2]= 0.0f; + } + else if ( EXPP_FloatsAreEqual(axis[0], 0.0f, 10) && + EXPP_FloatsAreEqual(axis[1], 0.0f, 10) && + EXPP_FloatsAreEqual(axis[2], 0.0f, 10) + ) { + axis[0] = 1.0f; + } + } + + if (angle) { + if (!finite(*angle)) { + *angle= 0.0f; + } + } +} + //-----------------------METHOD DEFINITIONS ---------------------- static struct PyMethodDef Quaternion_methods[] = { /* in place only */ @@ -1048,6 +1105,7 @@ static struct PyMethodDef Quaternion_methods[] = { /* return converted representation */ {"to_euler", (PyCFunction) Quaternion_to_euler, METH_VARARGS, Quaternion_to_euler_doc}, {"to_matrix", (PyCFunction) Quaternion_to_matrix, METH_NOARGS, Quaternion_to_matrix_doc}, + {"to_axis_angle", (PyCFunction) Quaternion_to_axis_angle, METH_NOARGS, Quaternion_to_axis_angle_doc}, /* operation between 2 or more types */ {"cross", (PyCFunction) Quaternion_cross, METH_O, Quaternion_cross_doc}, |